 (ns naojure.core)
 
 (def proxy-classes {
-                    :audio-player "com.aldebaran.proxy.ALAudioPlayerProxy"
-                    :backlight-detection "com.aldebaran.proxy.ALBacklightingDetectionProxy"
-                    :battery "com.aldebaran.proxy.ALBatteryProxy"
-                    :behaviour-manager "com.aldebaran.proxy.ALBehaviorManagerProxy"
-                    :darkness-detection "com.aldebaran.proxy.ALDarknessDetectionProxy"
-                    :leds "com.aldebaran.proxy.ALLedsProxy"
-                    :memory "com.aldebaran.proxy.ALMemoryProxy"
-                    :motion "com.aldebaran.proxy.ALMotionProxy"
-                    :navigation "com.aldebaran.proxy.ALNavigationProxy"
-                    :photo-capture "com.aldebaran.proxy.ALPhotoCaptureProxy"
-                    :posture "com.aldebaran.proxy.ALRobotPostureProxy"
-                    :preferences "com.aldebaran.proxy.ALPreferencesProxy"
-                    :sensors "com.aldebaran.proxy.ALSensorsProxy"
-                    :sonar "com.aldebaran.proxy.ALSonarProxy"
-                    :sound-detection "com.aldebaran.proxy.ALSoundDetectionProxy"
-                    :speech-recognition "com.aldebaran.proxy.ALSpeechRecognitionProxy"
-                    :tts "com.aldebaran.proxy.ALTextToSpeechProxy"
+                    :audio-player "ALAudioPlayer"
+                    :backlight-detection "ALBacklightingDetection"
+                    :battery "ALBattery"
+                    :behaviour-manager "ALBehaviorManager"
+                    :darkness-detection "ALDarknessDetection"
+                    :leds "ALLeds"
+                    :memory "ALMemory"
+                    :motion "ALMotion"
+                    :navigation "ALNavigation"
+                    :photo-capture "ALPhotoCapture"
+                    :posture "ALRobotPosture"
+                    :preferences "ALPreferences"
+                    :sensors "ALSensors"
+                    :sonar "ALSonar"
+                    :sound-detection "ALSoundDetection"
+                    :speech-recognition "ALSpeechRecognitionProxy"
+                    :tts "ALTextToSpeechProxy"
                     })
 
 (def joint-names '("HeadYaw", "HeadPitch",

(defn say
  "Say something"
  [robot text]
  (.say (get-proxy robot :tts) text))

(defn get-language
  "Get the currently defined text-to-speech language"

  (let [p (proxy robot)]
    (if (nil? p) (make-proxy robot proxy) p)))

(defn call-service
  "Call an operation on a service"
  [robot proxy-sym operation params]
  (.call (get-proxy robot proxy-sym) operation (into-array params)))

;; (defn make-variant
;;   "Make instance of Aldebaran ALValue (Variant in java)"
;;   [val]
